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TF of received scan cloud at time 706.974000s is not set, aborting rtabmap update.

asked 2021-06-08 14:00:46 -0600

Delbina
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updated 2021-07-14 09:21:30 -0600

matlabbe

6409 ●11 ●96 ●80

I launched rtabmap in the simulation environment, i got the following error:

[ WARN] [1623178403.056187247, 707.279000000]: Could not get transform from base_link to vehicle/velodyne after 0.200000 seconds (for stamp=706.974000)! Error="canTransform: source_frame vehicle/velodyne does not exist.. canTransform returned after 0.2 timeout was 0.2.".
[ERROR] [1623178403.056223430, 707.279000000]: TF of received scan cloud at time 706.974000s is not set, aborting rtabmap update.
[ERROR] [1623178403.056244112, 707.279000000]: Could not convert 3d laser scan msg! Aborting rtabmap update...

what does it mean?? what should i do?

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answered 2021-07-14 09:22:59 -0600

matlabbe

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It means TF is not correctly configured, base_link to vehicle/velodyne doesn't exist. You can debug your TF tree with:

rosrun tf2_tools view_frames.py
evince frames.pdf

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Asked: 2021-06-08 14:00:46 -0600

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Last updated: Jul 14 '21

TF of received scan cloud at time 706.974000s is not set, aborting rtabmap update. edit

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TF of received scan cloud at time 706.974000s is not set, aborting rtabmap update.